.. _program_listing_file_src_ObstacleVisualizer.hpp:

Program Listing for File ObstacleVisualizer.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ObstacleVisualizer.hpp>` (``src/ObstacleVisualizer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2022 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
    */
   
   #ifndef SRC__NAVGRAPHVISUALIZER_HPP
   #define SRC__NAVGRAPHVISUALIZER_HPP
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <std_msgs/msg/color_rgba.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   #include <visualization_msgs/msg/marker.hpp>
   
   #include <rmf_obstacle_msgs/msg/obstacles.hpp>
   #include <rmf_obstacle_msgs/msg/obstacle.hpp>
   
   #include <rmf_visualization_msgs/msg/rviz_param.hpp>
   
   
   //==============================================================================
   class ObstacleVisualizer : public rclcpp::Node
   {
   public:
     using ObstaclesMsg = rmf_obstacle_msgs::msg::Obstacles;
     using ObstacleMsg = rmf_obstacle_msgs::msg::Obstacle;
     using MarkerMsg = visualization_msgs::msg::Marker;
     using MarkerArrayMsg = visualization_msgs::msg::MarkerArray;
     using Color = std_msgs::msg::ColorRGBA;
     using RvizParamMsg = rmf_visualization_msgs::msg::RvizParam;
   
     ObstacleVisualizer(
       const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
   
   private:
   
     void msg_cb(const ObstaclesMsg& msg);
     Color make_color(float r, float g, float b, float a = 1.0) const;
   
     rclcpp::Subscription<ObstaclesMsg>::SharedPtr _obstacles_sub;
     rclcpp::Subscription<RvizParamMsg>::SharedPtr _param_sub;
     rclcpp::Publisher<MarkerArrayMsg>::SharedPtr _obstacle_markers_pub;
     std::string _active_level_name;
     std::string _global_fixed_frame;
   };
   
   #endif // SRC__OBSTACLEVISUALZIER_HPP